“Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of the Fingers.”

1.Converting air pressure into a required force. 2.Pressure Sensor 3.Communication/Interface between Software and Hardware 4.Scalability Sub-functions

ROBOTIC LIMB Air Pressure Nominal Air Muscle Pressure Sensing Energy Input Output Energy Material Control Force Compressed Air muscle Pressure Control Overall “Black Box”

Energy Material Accept air pressure from source Convert air pressure to force In Air muscle Un-flexed Air muscle Contracted Air muscle Control Pressure sensing Pressure Control/ Feedback Finger Motion Modeling All D.O.F.

Energy Accept Air Pressure From Source Pneumatic Electrical Control Mechanical Control BI-Directional Solenoid Valve Variable Solenoid Valve Ball Valve Toggle Valve Concept Generation: Part 1

Material Un-flexed Air Muscle Mesh Tube Hose Connector Plug Connector Carbon Fiber Plastic Metallic Silicon Balloon Rubber Push-to-Connect Compression Fitting Plastic Magnetic Concept Generation: Part 2

Control Pressure Sensing Mechanical Electrical Gauge Flow Meter Pito Tube Data Acquisition System Digital Gauge Labview Simulink Concept Generation: Part 3